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 * $Id: normal_3d_tbb.h 35661 2011-02-01 06:04:14Z rusu $
 *
 */

#ifndef PCL_ROS__FEATURES__NORMAL_3D_TBB_HPP_
#define PCL_ROS__FEATURES__NORMAL_3D_TBB_HPP_

// #include "pcl_ros/pcl_ros_config.hpp"
// #if defined(HAVE_TBB)

#include <pcl/features/normal_3d_tbb.h>
#include "pcl_ros/features/normal_3d.hpp"

namespace pcl_ros
{
/** \brief @b NormalEstimationTBB estimates local surface properties at each 3D point, such as surface normals and
  * curvatures, in parallel, using Intel's Threading Building Blocks library.
  * \author Radu Bogdan Rusu
  */
class NormalEstimationTBB : public Feature
{
private:
  pcl::NormalEstimationTBB<pcl::PointXYZ, pcl::Normal> impl_;

  typedef pcl::PointCloud<pcl::Normal> PointCloudOut;

  /** \brief Child initialization routine. Internal method. */
  inline bool
  childInit(ros::NodeHandle & nh)
  {
    // Create the output publisher
    pub_output_ = advertise<PointCloud>(nh, "output", max_queue_size_);
    return true;
  }

  /** \brief Publish an empty point cloud of the feature output type. */
  void emptyPublish(const PointCloudInConstPtr & cloud);

  /** \brief Compute the feature and publish it. */
  void computePublish(
    const PointCloudInConstPtr & cloud,
    const PointCloudInConstPtr & surface,
    const IndicesPtr & indices);

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}  // namespace pcl_ros

// #endif  // HAVE_TBB

#endif  // PCL_ROS__FEATURES__NORMAL_3D_TBB_HPP_
